Stabilization of a Quadrotor with Safety Harness During Collision and Hover

This research proposes a controller that solves the problems of divergence of behaviors during a collision and steady-state deviation during hovering. An attitude controller that sets the target attitude angle to 0 is used to stabilize the behavior during a collision. And a designed controller that treat a quadrotor with a safety harness as a double pendulum solves steady-state errors during hover by calculating inputs that reduce the energy of the system. We tested the proposed controller by using MATLAB and virtual robot experimentation platform (V-REP). The results of the simulation showed that a quadrotor with a safety harness prevents post-collision divergence and allows for hovering directly below the rod.